nahavandi-terminalapproach-2005.pdf (1.18 MB)
Terminal approach navigation for autonomous robots in a sensory network
conference contribution
posted on 2005-01-01, 00:00 authored by Pubudu PathiranaPubudu Pathirana, Timothy Black, Saeid NahavandiIn this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.
History
Title of proceedings
2005 3rd IEEE International Conference on Industrial Informatics (INDIN)Event
International Conference on Industrial Informatics (3rd : 2005 : Perth, W.A.)Pagination
552 - 557Publisher
IEEE XploreLocation
Perth, AustraliaPlace of publication
Piscataway, N.J.Start date
2005-08-10End date
2005-08-12ISBN-13
9780780390942ISBN-10
0780390946Language
engNotes
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Publication classification
E1 Full written paper - refereedCopyright notice
2005, IEEE.Editor/Contributor(s)
T Dillon, X YuUsage metrics
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